Stationary robot for rehabilitation of lower limbs

摘要

Two vertical columns in the front (2a, 2b) and two vertical rear columns (3a, 3b) are mounted on the flat platform. The front-column horizontal guides (2a, 2b) are symmetrically displaced by the forward-column displacement mechanism to the extent that they include the displaced front-column positions (2a, (2b) the dimension between their internal surfaces equal to the width of the wheelchair and the position of the extension to the dimension where the width dimension of the wheelchair occurs between the mechanical legs (2.3a, 2.3b) suspended on the front columns (2a, 2b). On the inner surfaces of the front columns (2a,(2b) there are vertical guides with a screw-driven pelvic height adjustment mechanism. Mechanical legs (2.3a, 2.3b) comprise the patient's lower extremities from the outside by: pelvic-guiding devices (2.3a, 2.3b) forcing symmetrically perpendicular movement of hip joint joints with ellipse-like trajectories, and by adjustable limb and hip joints driven by the retractable assemblies; and foot connectors. The rear columns (3a, 3b) are mounted in the arrangement of the inner surfaces equal to the dimension between the lowered front columns (2a, 2b),in addition, the vertical guides have two symmetrically driven extension arms (3.1),connected at the top by a transverse discharge with two handles (3.1.9) for the hands of the patient. A deviating back support (3.2) shall be fitted to the vertical guide of one of the extension arms (3.1). All servo-motors powering moving robot elements are controlled by signals from a software computer together with position control and the forces present by measuring sensors.